UTransform3D Class Reference

#include <UTransform3D.hh>

Public Member Functions
	UTransform3D ()
	UTransform3D (double tx, double ty, double tz, double phi=0., double theta=0., double psi=0.)
	UTransform3D (const UTransform3D &other)
	~UTransform3D ()
virtual void	RotateX (double angle)
virtual void	RotateY (double angle)
virtual void	RotateZ (double angle)
void	SetAngles (double phi, double theta, double psi)
UVector3	GlobalPoint (const UVector3 &local) const
UVector3	GlobalVector (const UVector3 &local) const
UVector3	LocalPoint (const UVector3 &global) const
UVector3	LocalVector (const UVector3 &global) const
UTransform3D &	operator= (const UTransform3D &other)
UTransform3D &	operator*= (const UTransform3D &other)
UTransform3D &	operator*= (const UVector3 &vect)

Data Fields
UVector3	fTr
double	fRot [9]

Detailed Description

Definition at line 26 of file UTransform3D.hh.

Constructor & Destructor Documentation

UTransform3D::UTransform3D

(

)

Definition at line 31 of file UTransform3D.cc.

References fRot, fTr, and UVector3::Set().

{
  // Dummy constructor
  fTr.Set(0);
  std::memcpy(fRot, kIdRot, sizeof(kIdRot));
}

UTransform3D::UTransform3D	(	double	tx,
		double	ty,
		double	tz,
		double	phi = 0.,
		double	theta = 0.,
		double	psi = 0.
	)

Definition at line 39 of file UTransform3D.cc.

References fTr, UVector3::Set(), and SetAngles().

{
  // Constructor providing a translation and Euler angles
  // See description for SetAngles() method.
  // This represent the composition of : first a rotation about Z axis with
  // angle phi, then a rotation with theta about the rotated X axis, and
  // finally a rotation with psi about the new Z axis.

  fTr.Set(tx, ty, tz);
  SetAngles(phi, theta, psi);
}

UTransform3D::UTransform3D

(

const UTransform3D &

other

)

Definition at line 53 of file UTransform3D.cc.

References fRot, and fTr.

{
  // Copy constructor.
 
    fTr = other.fTr;
    std::memcpy(fRot, other.fRot, sizeof(kIdRot));
 
}

UTransform3D::~UTransform3D ( )

inline

Definition at line 37 of file UTransform3D.hh.

{}

Member Function Documentation

UVector3 UTransform3D::GlobalPoint

(

const UVector3 &

local

)

const

Definition at line 167 of file UTransform3D.cc.

References fRot, fTr, UVector3::x, UVector3::y, and UVector3::z.

Referenced by UUtils::TransformLimits().

{
  // Returns global point coordinates converted from the local frame defined
  // by the transformation. This is defined by multiplying this transformation
  // with the local vector.
  UVector3 global;
  global.x = fTr.x + local.x * fRot[0] + local.y * fRot[1] + local.z * fRot[2];
  global.y = fTr.y + local.x * fRot[3] + local.y * fRot[4] + local.z * fRot[5];
  global.z = fTr.z + local.x * fRot[6] + local.y * fRot[7] + local.z * fRot[8];
  return global;
}

UVector3 UTransform3D::GlobalVector

(

const UVector3 &

local

)

const

Definition at line 180 of file UTransform3D.cc.

References fRot, UVector3::x, UVector3::y, and UVector3::z.

{
  // Returns vector components converted from the local frame defined by the
  // transformation to the global one. This is defined by multiplying this
  // transformation with the local vector while ignoring the translation.
  UVector3 global(
    local.x * fRot[0] + local.y * fRot[1] + local.z * fRot[2],
    local.x * fRot[3] + local.y * fRot[4] + local.z * fRot[5],
    local.x * fRot[6] + local.y * fRot[7] + local.z * fRot[8]);

  return global;
}

UVector3 UTransform3D::LocalPoint

(

const UVector3 &

global

)

const

Definition at line 194 of file UTransform3D.cc.

References fRot, fTr, local, UVector3::x, UVector3::y, and UVector3::z.

{
  // Returns local point coordinates converted from the global frame defined
  // by the transformation. This is defined by multiplying the inverse
  // transformation with the global vector.
  UVector3 mt = global - fTr;
  UVector3 local(
    mt.x * fRot[0] + mt.y * fRot[3] + mt.z * fRot[6],
    mt.x * fRot[1] + mt.y * fRot[4] + mt.z * fRot[7],
    mt.x * fRot[2] + mt.y * fRot[5] + mt.z * fRot[8]);
  return local;
}

UVector3 UTransform3D::LocalVector

(

const UVector3 &

global

)

const

Definition at line 208 of file UTransform3D.cc.

References fRot, local, UVector3::x, UVector3::y, and UVector3::z.

{
  // Returns local point coordinates converted from the global frame defined
  // by the transformation. This is defined by multiplying the inverse
  // transformation with the global vector.
  UVector3 local(
    global.x * fRot[0] + global.y * fRot[3] + global.z * fRot[6],
    global.x * fRot[1] + global.y * fRot[4] + global.z * fRot[7],
    global.x * fRot[2] + global.y * fRot[5] + global.z * fRot[8]);

  return local;
}

UTransform3D & UTransform3D::operator*=

(

const UTransform3D &

other

)

Definition at line 222 of file UTransform3D.cc.

References fRot, fTr, UVector3::x, UVector3::y, and UVector3::z.

{
  // Multiply with other transformation.
  fTr.x = fRot[0] * other.fTr[0] + fRot[1] * other.fTr[1] + fRot[2] * other.fTr[2];
  fTr.y = fRot[3] * other.fTr[0] + fRot[4] * other.fTr[1] + fRot[5] * other.fTr[2];
  fTr.z = fRot[6] * other.fTr[0] + fRot[7] * other.fTr[1] + fRot[8] * other.fTr[2];

  double newrot[9];
  for (int i = 0; i < 3; i++)
  {
    for (int j = 0; j < 3; j++)
    {
      newrot[3 * i + j] = fRot[3 * i] * other.fRot[j] +
                          fRot[3 * i + 1] * other.fRot[3 + j] +
                          fRot[3 * i + 2] * other.fRot[6 + j];
    }
  }
  std::memcpy(fRot, newrot, sizeof(kIdRot));
  return *this;
}

UTransform3D & UTransform3D::operator*=

(

const UVector3 &

vect

)

Definition at line 244 of file UTransform3D.cc.

References fRot, fTr, UVector3::x, UVector3::y, and UVector3::z.

{
  // Multiply with a vector.
  fTr.x = fRot[0] * vect.x + fRot[1] * vect.y + fRot[2] * vect.z;
  fTr.y = fRot[3] * vect.x + fRot[4] * vect.y + fRot[5] * vect.z;
  fTr.z = fRot[6] * vect.x + fRot[7] * vect.y + fRot[8] * vect.z;
  return *this;
}

UTransform3D & UTransform3D::operator=

(

const UTransform3D &

other

)

Definition at line 63 of file UTransform3D.cc.

References fRot, and fTr.

{
  if (&other == this) return *this;
  fTr = other.fTr;
  std::memcpy(fRot, other.fRot, sizeof(kIdRot));
  return *this;
}

void UTransform3D::RotateX ( double  angle )

virtual

Definition at line 101 of file UTransform3D.cc.

References test::c, fRot, fTr, UVector3::Set(), test::v, UVector3::x, UVector3::y, and UVector3::z.

{
  // Rotate the transformation about the X axis with a given angle (in degrees).
  double phi = angle * UUtils::kDegToRad;
  double c = std::cos(phi);
  double s = std::sin(phi);
  double v[9];
  v[0] = fRot[0];
  v[1] = fRot[1];
  v[2] = fRot[2];
  v[3] = c * fRot[3] - s * fRot[6];
  v[4] = c * fRot[4] - s * fRot[7];
  v[5] = c * fRot[5] - s * fRot[8];
  v[6] = s * fRot[3] + c * fRot[6];
  v[7] = s * fRot[4] + c * fRot[7];
  v[8] = s * fRot[5] + c * fRot[8];
  std::memcpy(fRot, v, sizeof(kIdRot));

  fTr.Set(fTr.x, c * fTr.y - s * fTr.z, s * fTr.y + c * fTr.z);
}

void UTransform3D::RotateY ( double  angle )

virtual

Definition at line 123 of file UTransform3D.cc.

References test::c, fRot, fTr, UVector3::Set(), test::v, UVector3::x, UVector3::y, and UVector3::z.

{
  // Rotate the transformation about the Y axis with a given angle (in degrees).
  double phi = angle * UUtils::kDegToRad;
  double c = std::cos(phi);
  double s = std::sin(phi);
  double v[9];
  v[0] = c * fRot[0] + s * fRot[6];
  v[1] = c * fRot[1] + s * fRot[7];
  v[2] = c * fRot[2] + s * fRot[8];
  v[3] = fRot[3];
  v[4] = fRot[4];
  v[5] = fRot[5];
  v[6] = -s * fRot[0] + c * fRot[6];
  v[7] = -s * fRot[1] + c * fRot[7];
  v[8] = -s * fRot[2] + c * fRot[8];
  std::memcpy(fRot, v, sizeof(kIdRot));

  fTr.Set(c * fTr.x + s * fTr.z, fTr.y, -s * fTr.x + c * fTr.z);
}

void UTransform3D::RotateZ ( double  angle )

virtual

Definition at line 145 of file UTransform3D.cc.

References test::c, fRot, fTr, UVector3::Set(), test::v, UVector3::x, UVector3::y, and UVector3::z.

{
  // Rotate the transformation about the Z axis with a given angle (in degrees).
  double phi = angle * UUtils::kDegToRad;
  double c = std::cos(phi);
  double s = std::sin(phi);
  double v[9];
  v[0] = c * fRot[0] - s * fRot[3];
  v[1] = c * fRot[1] - s * fRot[4];
  v[2] = c * fRot[2] - s * fRot[5];
  v[3] = s * fRot[0] + c * fRot[3];
  v[4] = s * fRot[1] + c * fRot[4];
  v[5] = s * fRot[2] + c * fRot[5];
  v[6] = fRot[6];
  v[7] = fRot[7];
  v[8] = fRot[8];
  std::memcpy(&fRot[0], v, sizeof(kIdRot));

  fTr.Set(c * fTr.x - s * fTr.y, s * fTr.x + c * fTr.y, fTr.z);
}

void UTransform3D::SetAngles	(	double	phi,
		double	theta,
		double	psi
	)

Definition at line 72 of file UTransform3D.cc.

References fRot.

Referenced by UTransform3D().

{
  // Set the rotation from Euler angles in the X-axis convention
  // See: http://mathworld.wolfram.com/EulerAngles.html
  // This represent the composition of : first a rotation about Z axis with
  // angle phi, then a rotation with theta about the rotated X axis, and
  // finally a rotation with psi about the new Z axis.

  // NOTE: angles are in degrees
  double degrad = UUtils::kDegToRad;
  double sinphi = std::sin(degrad * phi);
  double cosphi = std::cos(degrad * phi);
  double sinthe = std::sin(degrad * theta);
  double costhe = std::cos(degrad * theta);
  double sinpsi = std::sin(degrad * psi);
  double cospsi = std::cos(degrad * psi);

  fRot[0] =  cospsi * cosphi - costhe * sinphi * sinpsi;
  fRot[1] = -sinpsi * cosphi - costhe * sinphi * cospsi;
  fRot[2] =  sinthe * sinphi;
  fRot[3] =  cospsi * sinphi + costhe * cosphi * sinpsi;
  fRot[4] = -sinpsi * sinphi + costhe * cosphi * cospsi;
  fRot[5] = -sinthe * cosphi;
  fRot[6] =  sinpsi * sinthe;
  fRot[7] =  cospsi * sinthe;
  fRot[8] =  costhe;
}

Field Documentation

double UTransform3D::fRot[9]

Definition at line 30 of file UTransform3D.hh.

Referenced by GlobalPoint(), GlobalVector(), LocalPoint(), LocalVector(), operator*=(), operator=(), RotateX(), RotateY(), RotateZ(), SetAngles(), and UTransform3D().

UVector3 UTransform3D::fTr

Definition at line 29 of file UTransform3D.hh.

Referenced by GlobalPoint(), LocalPoint(), operator*=(), operator=(), RotateX(), RotateY(), RotateZ(), and UTransform3D().

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The documentation for this class was generated from the following files:

• UTransform3D.hh
• UTransform3D.cc